四轮驱动四轮转向自动驾驶底盘的电控系统设计

摘要

为了提高植保机械作业精度、降低驾驶员操作难度，设计了一种高地隙全液压四轮驱动四轮转向自动驾驶底盘。本文介绍了底盘的整体结构，重点阐述了电控系统的结构与工作原理。该电控系统以EPCS－8980为上位机、DSP56F805信号控制器为核心、基于CAN 总线进行通讯，行车状态参数采集器接收各传感器采集的行车参数信息，并通过 CAN 总线发送到车载电脑和行车控制器，行车控制器根据车载电脑指令和各传感器参数，按照行车控制模型生成控制指令，并通过各电磁阀独立控制4个液压马达和4个转向油缸，实现底盘的行车控制。同时，对电控系统进行了测试，测试结果表明：该电控系统实现了对液压元器件的控制，保证了其运行的可靠性，可满足实际作业要求，同时该电控系统也可用于通用自主移动平台上。%In order to improve the accuracy of plant protection machinery operations , and reduce the difficulty of driver ’ s operations, this paper presents a high clearance full hydraulic and automatic four-wheel driving and four-wheel steer-ing chassis .The overall structure of the chassis was produced , and also the electric control system was mainly presented . The electric control system was designed with its vehicular computer EPCS-8980,core part DSP56F805, communication via CAN-bus.The driving parameters were collected by each sensor , and each sensor signals collected by the driving da-ta collector transmitted to the vehicular computer and the driving controller via CAN-bus.According to instructions of the vehicular computer and the parameters of the sensors , the driving controller generated the controlling instruction under the traffic controlling model , the four hydraulic motors and the four steering cylinders were controlled by each electromagnetic valve , and thus the chassis could be controlled to drive and steer .The tests of the electric control system were carried out ,and tests showed that the electric control system achieved to control the hydraulic components ,ensured its operational reliability,met the practical operational requirements ,and the electric control system also could be used for general-pur-pose autonomous mobile platform .